CN210500316U - Three-degree-of-freedom flexible mechanical equipment - Google Patents
Three-degree-of-freedom flexible mechanical equipment Download PDFInfo
- Publication number
- CN210500316U CN210500316U CN201921499393.XU CN201921499393U CN210500316U CN 210500316 U CN210500316 U CN 210500316U CN 201921499393 U CN201921499393 U CN 201921499393U CN 210500316 U CN210500316 U CN 210500316U
- Authority
- CN
- China
- Prior art keywords
- box
- fixedly connected
- worm gear
- driving chain
- cantilever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a three degree of freedom flexible mechanical equipment, including revolving stage, flexible post elevating gear, cantilever and hand, flexible post elevating gear lower extreme is installed on the revolving stage, and cantilever one end fixed connection is in flexible post elevating gear upper end, and hand fixed connection is on telescopic cylinder's jar pole, and telescopic cylinder fixed connection is at the other end of cantilever. The utility model discloses a revolving stage, flexible post elevating gear, cantilever and the pneumatic hand of grabbing can realize the assigned position's of article absorption and assigned position's placing fast, and the position of placing of avoiding manual operation to lead to is inaccurate, improves article and sweeps a yard packing quality, and labour saving and time saving reduces intensity of labour, and flexible post elevating gear can ensure that the transmission part transmission in-process is crooked, improve equipment's flexibility.
Description
Technical Field
The utility model relates to a three degree of freedom flexible mechanical equipment belongs to flexible mechanical equipment technical field.
Background
The flexible mechanical arm is smaller for people researching at home and abroad, most of the mechanical arms contacted at home and abroad are rigid at present, most of the rigid mechanical arms are large in size, heavy, small in working range, slow and inflexible in working, most of the power of the motor is used for the weight running of the machine, the efficiency is low, and the cost is high. And in many high precision industries such as: the processing and manufacturing of mobile phone chips, watches, paint spraying and the like can not meet the requirements, and people are forced to research flexible mechanical arms which are lighter in structure, strong in flexibility and flexible in operation, have the following characteristics, are light in structure, are used in various occasions, are low in energy consumption and are high in response speed. The research of flexible mechanical arm, still in the beginning stage at home and abroad, people have made several kinds of bionic robots to the flexible mechanical arm structure in foreign countries, imitate the flexible articulated robot of trunk like the nose, imitate the snake-shaped robot of snake and design a kind of arm similar to octopus hand in China's Qinghua university research design in China, it is by the connection transmission of flexible screw, it can be rotatory and crooked of many degrees of freedom, flexible robot appears in many industries constantly at the end of last century, aviation, life, etc., people also need the flexible mechanical arm urgently, because the positioning control of flexible mechanical arm is more difficult, so most flexible mechanical arm still only stays in the theoretical stage, need overcome more unknown difficult problems in the future.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: a three-degree-of-freedom flexible mechanical device is provided to solve the above problems in the prior art.
The utility model discloses the technical scheme who takes does: the utility model provides a three degree of freedom flexible mechanical equipment, includes revolving stage, flexible post elevating gear, cantilever and holds in the palm, and flexible post elevating gear lower extreme is installed on the revolving stage, and cantilever one end fixed connection is in flexible post elevating gear upper end, holds in the palm fixed connection on telescopic cylinder's jar pole, and telescopic cylinder fixed connection is at the other end of cantilever.
Preferably, the telescopic cylinder is connected to the cantilever through a cylinder base, two linear bearings are mounted on the cylinder base, and one end of each linear bearing is fixedly connected to the hand grip.
Preferably, the rotating platform comprises a box base, a worm gear transmission, a driving seat arm and a rotating motor, the worm gear transmission is fixedly connected to the box base, a worm shaft of the worm gear transmission is connected with the rotating motor, the rotating motor is fixedly connected to the worm gear transmission, the driving seat arm is fixedly connected to the upper end of a vertical turbine shaft of the worm gear transmission, and the driving seat arm is fixedly connected with the flexible column lifting device.
Preferably, above-mentioned turbine worm derailleur includes the turbine case, and both ends are on rotatably connecting turbine case upper flange and turbine case lower flange respectively about the vertical turbine shaft, and turbine case upper flange and turbine case lower flange are fixed connection respectively on case lid and the lower extreme of turbine case upper end, and turbine case lower extreme passes through flange and case seat fixed connection.
Preferably, above-mentioned flexible post elevating gear includes bed plate, guide rail stand, linear guide, sliding plate and lift actuating mechanism, and the guide rail stand adopts four, and lower extreme fixed connection is on the bed plate, and the sliding plate is connected to four guide rail stands through four linear guide, and the sliding plate is connected with lift actuating mechanism.
Preferably, the lifting driving mechanism comprises a lifting motor, a driving chain wheel, a plurality of driving chain boxes, an arc-shaped guide rail, two groups of criss-cross inner connecting rods and two groups of criss-cross outer connecting rods, the lifting motor is fixedly connected to a motor frame, the driving chain wheel is fixedly connected to a motor shaft of the lifting motor, the driving chain boxes are hinged, the end faces of two adjacent driving chain boxes are in contact butt joint, the back face of each driving chain box is connected to the arc-shaped guide rail, the other side of each driving chain box is provided with an opening, two small chain links hinged with the driving chain wheel are arranged in each driving chain box, the driving chain wheel can be meshed with the two small chain links in each driving chain box, the arc-shaped guide rail is fixedly connected to the side wall of the storage box and is of a right-angle bending structure, the bending part is in arc transition, the storage box is fixedly connected to a base, the first short connecting rod and the second short connecting rod are hinged to the sliding plate and the base plate respectively, and the upper end face of the uppermost driving chain box is fixedly connected to the bottom of the sliding plate.
Preferably, the sliding plate is fixedly connected with the cantilever through an I-shaped connecting seat at the upper part.
The utility model has the advantages that: compared with the prior art, the utility model discloses an effect as follows:
(1) the utility model adopts the rotary table, the flexible column lifting device, the cantilever and the pneumatic hand to grasp, can quickly realize the absorption of the appointed position of the article and the placement of the appointed position, avoid the inaccurate placed position caused by manual operation, improve the quality of the code scanning and packaging of the article, save time and labor, reduce labor intensity, ensure the bending of the transmission part in the transmission process and improve the flexibility of the equipment by the flexible column lifting device;
(2) the two linear bearings are adopted to directionally guide the telescopic gripper, so that the directional precision is higher;
(3) the chain wheels are adopted to mesh with the driving chain boxes, the driving chain lines run on the arc-shaped guide rails, two adjacent driving chain boxes in the vertical direction above the chain wheels can bear the vertical supporting force of the sliding plate, the chain wheels rotate to realize the rapid lifting of the sliding plate, and the lifting driving mechanism of the bending chain has a compact structure and can ensure the stability of the sliding plate in the transmission process by virtue of a crossed cross connecting rod mechanism;
(4) the device of the rotating platform has the advantages of compact structure, stable movement, capability of loading heavy objects, high movement precision, convenience in connection, easiness in manufacturing and easiness in installation due to the fact that the turbine shaft is connected in an upper flange and lower flange mode.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the cross-sectional structure A-A of FIG. 2;
FIG. 4 is a schematic cross-sectional view of the turntable of the present invention;
fig. 5 is a left side view structure diagram of the present invention;
fig. 6 is a schematic view of the structure in the direction a in fig. 3.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1: as shown in fig. 1-6, a three-degree-of-freedom flexible mechanical apparatus includes a rotating platform 1, a flexible column lifting device 2, a cantilever 3 and a hand grip 4, wherein the lower end of the flexible column lifting device 2 is installed on the rotating platform 1, one end of the cantilever 3 is fixedly connected to the upper end of the flexible column lifting device 2, the hand grip 4 is fixedly connected to a cylinder rod of a telescopic cylinder 5, and the telescopic cylinder 5 is fixedly connected to the other end of the cantilever 3.
Preferably, the telescopic cylinder 5 is connected to the cantilever 3 through a cylinder base 6, two linear bearings 7 are mounted on the cylinder base 6, and one end of each linear bearing 7 is fixedly connected to the gripper 4.
Preferably, the rotating platform 1 comprises a box base 8, a worm gear transmission 9, a driving base arm 10 and a rotating motor 11, the worm gear transmission 9 is fixedly connected to the box base 8, a worm shaft 12 of the worm gear transmission 9 is connected with the rotating motor 11, the rotating motor 11 is fixedly connected to the worm gear transmission 9, the driving base arm 10 is fixedly connected to the upper end of a vertical turbine shaft 13 of the worm gear transmission 9, and the driving base arm 10 is fixedly connected with the flexible column lifting device 2; the worm and gear transmission 9 comprises a turbine box 14, the upper end and the lower end of a vertical turbine shaft 13 are respectively rotatably connected with an upper turbine box flange 15 and a lower turbine box flange 16, the upper turbine box flange 15 and the lower turbine box flange 16 are respectively fixedly connected with a box cover 17 and the lower end of the upper end of the turbine box 14, the connection mode of the upper flange and the lower flange is adopted, the processing is convenient, the installation is easy, the adjustment and the centering are also easy, the lower end of the turbine box 14 is fixedly connected with a box base 8 through the flange, a flange plate and a flange bearing are used for connecting with a turbine shaft when the rotating platform looks up along the bottom end of the vertical turbine shaft, the flange is connected with a box base, the flange bearing is connected with the turbine shaft, the flange bearing plays a role of positioning and receiving the action of axial force, the rotating speed of the base is not too fast, but the, the thrust ball bearing can bear axial load, the bearing can greatly meet the requirement, the turbine worm and the turbine disc are meshed along the upper end of the bearing, the turbine shaft of the base is connected with the turbine disc by using three ordinary flat keys to increase the load capacity, the deep groove ball bearing is adopted at the upper part of the bearing, the upper flange of the base is arranged along the upper end of the deep groove ball bearing, the whole transmission process is carried out in the turbine box, a sealing retainer ring is added at the joint of the flange on the base and the uppermost end of the turbine shaft, which can prevent the corrosion of each part below the base caused by the permeation of water, a driving seat arm is arranged at the top of the whole base transmission device and connected with the turbine shaft, the driving seat arm bears the weight of the flexible column device, the cantilever and the grabbed heavy object, the device of the rotating platform has compact structure and stable movement, can load heavy objects with larger weight, and has high movement precision.
Preferably, the flexible column lifting device 2 comprises a base plate 18, guide rail columns 19, linear guide rails 20, a sliding plate 21 and a lifting driving mechanism, wherein four guide rail columns 19 are adopted, the lower ends of the guide rail columns are fixedly connected to the base plate 18, the sliding plate 21 is connected to the four guide rail columns 19 through the four linear guide rails 20, and the sliding plate 21 is connected with the lifting driving mechanism; the lifting driving mechanism comprises a lifting motor 22, a driving chain wheel 23, driving chain boxes 24, an arc-shaped guide rail 25, two groups of criss-cross inner connecting rods 26 and outer connecting rods 27, the lifting motor 22 is fixedly connected on a motor frame, the driving chain wheel 23 is fixedly connected on a motor shaft of the lifting motor 22, the driving chain boxes 24 are multiple, every two adjacent driving chain boxes 24 are hinged, the end faces of the two driving chain boxes 24 are in contact butt joint after being erected, the back face of each driving chain box 24 is connected on the arc-shaped guide rail 25, the other side of each driving chain box is provided with an opening, two small chain links 28 hinged with the driving chain box are arranged in the driving chain box, the driving chain wheel 23 can be meshed with the two small chain links 28 in each driving chain box 24, the arc-shaped guide rail 25 is fixedly connected on the side wall of a storage box 29 and is of a right-angle bending structure, the arc transition of a, the upper end and the lower end of the chain wheel are respectively hinged with a short connecting rod I30 and a short connecting rod II 31, the short connecting rod I30 and the short connecting rod II 31 are respectively hinged on the sliding plate 21 and the base plate 18, the upper end surface of the drive chain box 24 at the uppermost end is fixedly connected to the bottom of the sliding plate 21, the flexible column device is formed by changing the form of a chain on the basis of chain transmission of the chain wheel, the complete chain is disassembled into a single-section chain, each single section is connected on an arc-shaped track by a movable hinge, a flexible chain link is changed into a flexible column device with unidirectional rigidity, but the bearing capacity and the stroke capacity of the flexible column device are greatly enhanced, as can be seen from the figure, the sliding plate is connected with four sliding blocks which are connected with four guide rails, so that the sliding plate can be positioned only to move up and down on the guide rails, the sliding plate is prevented from moving left and right under the, there are two little chain links in the drive chain case, two little chain links are connected with the drive chain case through four roller chain axles and four curb plates, two adjacent drive chain cases are connected through the activity hinge, on the arc track with each for the drive chain case screw connection of v type track face, the horizontal direction can be realized on the arc track to the drive chain case that a plurality of concatenations, vertical direction motion and a curvilinear motion, sprocket and the chain link intermeshing in the drive chain case that the rotating electrical machines are connected, transmit the sprocket with the power of sliding plate load through the drive chain case, the sprocket passes through the drive of motor shaft and motor connection realization whole flexible post, criss-cross link mechanism, can ensure the stability of sliding plate transmission in-process.
Preferably, the sliding plate 21 is fixedly connected to the cantilever 3 by an upper i-shaped connecting seat 32.
The utility model discloses a manipulator of three degree of freedom, first degree of freedom adopt the rotation that the turbine worm realized 360 degrees, second degree of freedom for the revolving stage: the waist adopts flexible column device to realize the oscilaltion, the distance of going up and down is 0-60 centimetres, the third degree of freedom adopts the cantilever, the last end of cantilever is installed a telescopic cylinder, telescopic cylinder realizes removing in the vertical direction, the distance of removing is 0-30 centimetres, whole structure arm can be applied to the transport, realizes snatching the motion
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention, therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (7)
1. A three-degree-of-freedom flexible mechanical device is characterized in that: including revolving stage (1), flexible post elevating gear (2), cantilever (3) and hold (4) with hand, install on revolving stage (1) flexible post elevating gear (2) lower extreme, cantilever (3) one end fixed connection is in flexible post elevating gear (2) upper end, holds (4) fixed connection on the jar pole of telescopic cylinder (5) with hand, and telescopic cylinder (5) fixed connection is at the other end of cantilever (3).
2. The three-degree-of-freedom flexible mechanical device according to claim 1, characterized in that: the telescopic cylinder (5) is connected to the cantilever (3) through a cylinder base (6), two linear bearings (7) are mounted on the cylinder base (6), and one end of each linear bearing (7) is fixedly connected to the hand grab (4).
3. The three-degree-of-freedom flexible mechanical device according to claim 1, characterized in that: the rotating platform (1) comprises a box base (8), a worm gear transmission (9), a driving base arm (10) and a rotating motor (11), the worm gear transmission (9) is fixedly connected onto the box base (8), a worm shaft (12) of the worm gear transmission (9) is connected with the rotating motor (11), the rotating motor (11) is fixedly connected onto the worm gear transmission (9), the driving base arm (10) is fixedly connected onto the upper end of a vertical turbine shaft (13) of the worm gear transmission (9), and the driving base arm (10) is fixedly connected with the flexible column lifting device (2).
4. The three-degree-of-freedom flexible mechanical device according to claim 3, characterized in that: the worm gear transmission (9) comprises a worm gear box (14), the upper end and the lower end of a vertical turbine shaft (13) are rotatably connected with a worm gear box upper flange (15) and a worm gear box lower flange (16) respectively, the worm gear box upper flange (15) and the worm gear box lower flange (16) are fixedly connected to a box cover (17) and the lower end of the upper end of the worm gear box (14) respectively, and the lower end of the worm gear box (14) is fixedly connected with a box base (8) through a flange.
5. The three-degree-of-freedom flexible mechanical device according to claim 1, characterized in that: the flexible column lifting device (2) comprises a base plate (18), guide rail upright columns (19), linear guide rails (20), a sliding plate (21) and a lifting driving mechanism, wherein the guide rail upright columns (19) are four, the lower end of each guide rail upright column is fixedly connected to the base plate (18), the sliding plate (21) is connected to the four guide rail upright columns (19) through the four linear guide rails (20), and the sliding plate (21) is connected with the lifting driving mechanism.
6. The three-degree-of-freedom flexible mechanical device according to claim 5, characterized in that: the lifting driving mechanism comprises a lifting motor (22), a driving chain wheel (23), driving chain boxes (24), an arc-shaped guide rail (25), two groups of criss-cross inner connecting rods (26) and two groups of criss-cross outer connecting rods (27), the lifting motor (22) is fixedly connected to a motor frame, the driving chain wheel (23) is fixedly connected to a motor shaft of the lifting motor (22), a plurality of driving chain boxes (24) are adopted, two adjacent driving chain boxes (24) are hinged, the end faces of the two driving chain boxes (24) are in contact butt joint after being erected, the back face of each driving chain box (24) is connected to the arc-shaped guide rail (25), the other side of each driving chain box (24) is open, two small chain links (28) hinged with the driving chain wheel are arranged inside the driving chain box (23), the driving chain wheel (23) can be meshed with the two small chain links (28) in each driving chain box (24), and, for the right angle bending structure, the circular arc transition of the department of bending, storage box (29) fixed connection is on bed plate (18), connecting rod (26) and outer connecting rod (27) activity hinge in every group, upper and lower both ends articulate short connecting rod one (30) and short connecting rod two (31) respectively, short connecting rod one (30) and short connecting rod two (31) articulate respectively on sliding plate (21) and bed plate (18), drive chain case (24) up end fixed connection the top is in sliding plate (21) bottom.
7. The three-degree-of-freedom flexible mechanical device according to claim 5, characterized in that: the sliding plate (21) is fixedly connected with the cantilever (3) through an I-shaped connecting seat (32) at the upper part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921499393.XU CN210500316U (en) | 2019-09-10 | 2019-09-10 | Three-degree-of-freedom flexible mechanical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921499393.XU CN210500316U (en) | 2019-09-10 | 2019-09-10 | Three-degree-of-freedom flexible mechanical equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210500316U true CN210500316U (en) | 2020-05-12 |
Family
ID=70568984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921499393.XU Active CN210500316U (en) | 2019-09-10 | 2019-09-10 | Three-degree-of-freedom flexible mechanical equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210500316U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587645A (en) * | 2019-09-10 | 2019-12-20 | 贵州大学 | Three-degree-of-freedom flexible mechanical device |
-
2019
- 2019-09-10 CN CN201921499393.XU patent/CN210500316U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587645A (en) * | 2019-09-10 | 2019-12-20 | 贵州大学 | Three-degree-of-freedom flexible mechanical device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2902981Y (en) | Mechanical handling device of object stacking machine | |
| CN109019434A (en) | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted | |
| CN113304923B (en) | Adjustable flexible cable driving spraying robot for coating inner wall of complex curved surface | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN203254410U (en) | Mobile object-fetching robot | |
| CN210500316U (en) | Three-degree-of-freedom flexible mechanical equipment | |
| CN217801694U (en) | Manipulator for drilling tool carrying | |
| CN110640720A (en) | Flexible column lifting device | |
| CN2037598U (en) | Window cleaning machine | |
| CN111889657A (en) | Stripping and mould assembling manipulator structure | |
| CN209052351U (en) | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted | |
| CN214924419U (en) | Manipulator for transferring parts | |
| CN110587645A (en) | Three-degree-of-freedom flexible mechanical device | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN210500260U (en) | Flexible column lifting equipment | |
| CN214446355U (en) | Liftable arm mechanism | |
| CN212639842U (en) | Lifting structure of rotary stacking manipulator | |
| CN113084744A (en) | Dolly of belt conveyor bearing roller is changed to non-stop | |
| CN115180378B (en) | Automatic overturning method for round part | |
| CN206445121U (en) | A kind of punching press Intelligent transfer robot provided with elevating function | |
| CN214924398U (en) | Multi-arm rotary robot | |
| CN210794873U (en) | Transfer auxiliary device of inspection robot of transformer substation | |
| CN210289668U (en) | Automatic calandria manipulator of rig floor plane movable | |
| CN213386328U (en) | Manipulator convenient to remove operation | |
| CN215393651U (en) | Photovoltaic module replacing device for flexible photovoltaic power station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |